title: Measurement of the robot motor capability of a robot motor system: a Fitts's-law-inspired approach.
abstract: Robot motor capability is a crucial factor for a robot, because it affects how accurately and rapidly a robot can perform a motion to accomplish a task constrained by spatial and temporal conditions. In this paper, we propose and derive a pseudo-index of motor performance (pIp) to characterize robot motor capability with robot kinematics, dynamics and control taken into consideration. The proposed pIp provides a quantitative measure for a robot with revolute joints, which is inspired from an index of performance in Fitts's law of human skills. Computer simulations and experiments on a PUMA 560 industrial robot were conducted to validate the proposed pIp for performing a motion accurately and rapidly.
authors.affiliation: Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei 10608, Taiwan. sofin@ntut.edu.tw
authors.forename: Hsien-I
authors.initials: HI
authors.lastname: Lin
authors.forename: C S George
authors.initials: CS
authors.lastname: Lee
mesh_terms: D000465:Algorithms; D003198:Computer Simulation; D004735:Energy Transfer; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005246:Feedback; D008962:Models, Theoretical; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*